version: 66.03
glider: 120
mission: 9
dive: 475
start: 2 23 109 14 14 22
data:
$ID,120
$MISSION,9
$DIVE,475
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27909.043
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,140306,4959.762,-14511.846,33,1.7,33,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.90
$_SM_ANGLEo,-70.3
$GPS2,141328,4959.746,-14511.832,13,2.7,32,18.4
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.025,-0.176
$KALMAN_X,-13634.2,114.6,111.6,16562.3,-1014.3
$KALMAN_Y,76694.9,-198.3,-55.8,-83349.4,3558.5
$MHEAD_RNG_PITCHd_Wd,153.7,10621,-12.0,-5.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-11.18,0.000,2,0.000,0.000,134,2402,1978
$GC,41,-0.67,-117.3,4.0,-0.0,1,110,14.12,2.40,-49.20,0.000,4,0.285,0.082,3093,985,3355
$GC,198,-0.53,-117.3,17.1,-13.2,14,205,0.17,2.33,0.00,0.000,6,0.158,0.064,3142,2401,3356
$GC,527,-0.53,-117.3,42.9,-6.2,45,533,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2401,3356
$GC,853,-0.53,-117.3,70.2,-7.0,76,854,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2401,3356
$GC,1166,-0.53,-117.3,93.0,-7.2,98,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2401,3357
$GC,1475,-0.53,-117.3,115.7,-5.8,113,1479,0.00,2.35,0.00,0.000,4,0.000,0.069,3142,992,3357
$GC,1503,-0.53,-117.3,117.9,-7.9,114,1507,0.00,2.30,0.00,0.000,6,0.000,0.062,3141,2402,3357
$GC,1819,-0.53,-117.3,140.1,-6.8,129,1824,0.00,2.38,0.00,0.000,4,0.000,0.082,3132,3817,3357
$GC,1864,-0.53,-117.3,143.0,-6.8,131,1868,0.00,2.28,0.00,0.000,6,0.000,0.054,3132,2391,3357
$GC,2194,-0.53,-117.3,164.3,-6.6,144,2198,0.00,2.40,0.00,0.000,4,0.000,0.079,3126,3810,3357
$GC,2250,-0.61,-117.3,168.0,-6.7,145,2254,0.00,2.25,0.00,0.000,6,0.000,0.053,3125,2393,3356
$GC,2563,-0.61,-117.3,186.2,-6.2,155,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2393,3357
$GC,2870,-0.66,-117.3,206.6,-6.3,165,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2393,3357
$GC,3175,-0.71,-117.3,225.6,-6.2,175,3180,0.12,2.30,0.00,0.000,4,0.084,0.069,3079,996,3357
$GC,3219,-0.71,-117.3,228.9,-7.5,176,3224,0.00,2.30,0.00,0.000,6,0.000,0.061,3079,2410,3357
$GC,3539,-0.65,-117.3,251.7,-7.4,187,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2409,3357
$GC,3845,-0.59,-117.3,273.1,-6.9,197,3850,0.15,2.38,0.00,0.000,4,0.140,0.081,3125,3808,3357
$GC,3885,-0.69,-117.3,275.6,-5.5,198,3889,0.00,2.25,0.00,0.000,6,0.000,0.054,3125,2401,3357
$GC,4209,-0.94,-117.3,296.2,-6.7,209,4214,0.30,2.40,0.00,0.000,4,0.084,0.079,3010,3809,3357
$GC,4369,-0.67,-117.3,312.0,-11.4,212,4374,0.32,2.28,0.00,0.000,6,0.159,0.056,3099,2394,3357
$GC,4707,-0.67,-117.3,335.9,-6.9,218,4711,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,992,3357
$GC,4735,-0.67,-117.3,338.0,-7.2,218,4739,0.00,2.30,0.00,0.000,6,0.000,0.063,3099,2402,3357
$GC,5067,-0.67,-117.3,360.7,-6.9,224,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3357
$GC,5370,-0.67,-117.3,381.1,-6.7,229,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,5674,-0.67,-117.3,401.5,-6.8,234,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,5977,-0.67,-117.3,420.8,-6.3,239,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,6279,-0.67,-117.3,439.7,-6.3,244,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,6583,-0.67,-117.3,460.0,-6.7,249,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3356
$GC,6886,-0.67,-117.3,479.6,-6.5,254,6890,0.00,2.38,0.00,0.000,4,0.000,0.083,3099,3808,3355
$GC,6908,-0.67,-117.3,481.1,-6.2,254,6912,0.00,2.28,0.00,0.000,6,0.000,0.056,3099,2394,3355
$GC,7246,-0.67,-117.3,502.2,-6.2,260,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2394,3355
$GC,7549,-0.67,-117.3,519.3,-5.5,265,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2395,3355
$GC,7852,-0.67,-117.3,534.8,-5.1,270,7856,0.00,2.47,0.00,0.000,4,0.000,0.082,3099,3811,3355
$GC,7887,-0.72,-117.3,536.4,-5.2,270,7891,0.00,2.30,0.00,0.000,6,0.000,0.056,3099,2391,3355
$GC,8215,-0.72,-117.3,550.8,-4.3,276,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3355
$GC,8517,-0.72,-117.3,564.4,-4.5,281,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3355
$GC,8820,-0.72,-117.3,579.2,-4.9,286,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3355
$GC,9123,-0.72,-117.3,596.3,-5.7,291,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2391,3355
$GC,9426,-0.72,-117.3,615.5,-6.4,296,9430,0.00,2.35,0.00,0.000,4,0.000,0.074,3099,991,3354
$GC,9459,-0.72,-117.3,618.0,-6.9,296,9463,0.00,2.33,0.00,0.000,6,0.000,0.064,3099,2405,3355
$GC,9786,-0.72,-117.3,641.0,-7.2,302,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,10089,-0.72,-117.3,663.4,-7.3,307,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2405,3355
$GC,10392,-0.72,-117.3,685.1,-7.2,312,10397,0.00,2.38,0.00,0.000,4,0.000,0.073,3099,995,3354
$GC,10421,-0.72,-117.3,687.1,-7.6,312,10425,0.00,2.30,0.00,0.000,6,0.000,0.064,3099,2401,3354
$GC,10759,-0.76,-117.3,709.8,-6.6,318,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,11062,-0.76,-117.3,728.3,-6.0,323,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2400,3354
$GC,11365,-0.80,-117.3,744.9,-5.4,328,11367,0.12,0.00,0.00,0.000,6,0.090,0.000,3048,2400,3353
$GC,11669,-0.80,-117.3,763.0,-6.0,333,11673,0.00,2.42,0.00,0.000,4,0.000,0.084,3047,3814,3353
$GC,11725,-0.72,-117.3,766.8,-6.6,333,11732,0.12,2.30,0.00,0.000,6,0.104,0.058,3081,2389,3354
$GC,12035,-0.72,-117.3,783.1,-5.2,339,12036,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2390,3354
$GC,12338,-0.72,-117.3,799.0,-5.3,344,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2390,3354
$GC,12641,-0.72,-117.3,815.5,-5.5,349,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2390,3353
$GC,12944,-0.72,-117.3,833.6,-6.0,354,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2390,3353
$GC,13247,-0.72,-117.3,851.0,-5.7,359,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2389,3354
$GC,13550,-0.72,-117.3,867.5,-5.5,364,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2390,3353
$GC,13854,-0.72,-117.3,884.3,-5.6,369,13858,0.00,2.38,0.00,0.000,4,0.000,0.074,3081,993,3353
$GC,13888,-0.72,-117.3,886.4,-6.0,369,13892,0.00,2.33,0.00,0.000,6,0.000,0.066,3081,2400,3353
$GC,14216,-0.72,-117.3,903.7,-5.3,375,14220,0.00,2.40,0.00,0.000,4,0.000,0.086,3081,3807,3353
$GC,14238,-0.72,-117.3,904.8,-4.3,375,14242,0.00,2.28,0.00,0.000,6,0.000,0.059,3081,2393,3353
$GC,14582,-0.72,-117.3,922.6,-5.2,381,14583,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2392,3353
$GC,14884,-0.72,-117.3,938.6,-5.2,386,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2393,3352
$GC,15187,-0.72,-117.3,955.4,-5.5,391,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2393,3353
$GC,15491,-0.72,-117.3,972.2,-5.5,396,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2393,3353
$GC,15793,-0.72,-117.3,988.3,-5.3,401,15795,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2393,3352
$STATE,15851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15851,begin apogee
$GC,15859,-0.22,0.0,991.7,5.3,402,15974,0.52,0.00,108.50,1.490,6,0.137,0.000,3241,2199,2875
$STATE,15975,end apogee,CONTROL_FINISHED_OK
$STATE,15975,begin climb
$GC,15978,0.67,117.3,996.3,0.0,404,16100,0.88,0.00,113.75,1.436,6,0.086,0.000,3533,2199,2397
$GC,16407,0.34,117.3,975.2,7.7,411,16412,0.35,2.42,0.00,0.000,4,0.170,0.078,3441,788,2394
$GC,16502,0.29,117.3,969.4,5.6,412,16507,0.00,2.33,0.00,0.000,6,0.000,0.063,3441,2208,2393
$GC,16836,0.23,119.8,953.0,4.9,418,16840,0.15,2.35,0.00,0.000,4,0.164,0.080,3394,3613,2393
$GC,16869,0.25,137.3,951.2,4.5,418,16896,0.00,2.30,18.52,1.384,6,0.000,0.065,3394,2200,2315
$GC,17201,0.38,163.3,937.4,4.3,424,17228,0.12,0.00,24.62,1.403,6,0.085,0.000,3443,2200,2210
$GC,17504,0.38,163.3,920.4,5.8,429,17505,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2200,2208
$GC,17806,0.38,163.3,902.4,5.9,434,17807,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2201,2208
$GC,18109,0.38,163.3,883.8,6.2,439,18110,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2200,2207
$GC,18412,0.38,163.3,864.6,6.4,444,18416,0.00,2.35,0.00,0.000,4,0.000,0.081,3448,786,2207
$GC,18451,0.38,163.3,861.8,7.6,444,18455,0.00,2.30,0.00,0.000,6,0.000,0.064,3448,2202,2207
$GC,18772,0.38,163.3,841.1,6.4,450,18776,0.00,2.38,0.00,0.000,4,0.000,0.081,3447,788,2207
$GC,18817,0.38,163.3,838.1,6.3,450,18821,0.00,2.30,0.00,0.000,6,0.000,0.064,3447,2204,2207
$GC,19132,0.38,163.3,819.0,6.0,456,19133,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2203,2206
$GC,19435,0.38,163.3,801.8,5.7,461,19439,0.00,2.40,0.00,0.000,4,0.000,0.081,3449,788,2206
$GC,19474,0.38,163.3,799.6,6.5,461,19478,0.00,2.30,0.00,0.000,6,0.000,0.063,3448,2204,2206
$GC,19794,0.38,163.3,781.2,5.8,467,19796,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2206
$GC,20098,0.38,163.3,763.7,5.8,472,20099,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2206
$GC,20401,0.38,163.3,745.5,6.0,477,20402,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2203,2206
$GC,20704,0.38,163.3,726.5,6.3,482,20705,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2206
$GC,21008,0.38,163.3,706.8,6.5,487,21009,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2206
$GC,21310,0.38,163.3,688.1,6.1,492,21314,0.00,2.42,0.00,0.000,4,0.000,0.080,3449,793,2206
$GC,21350,0.38,163.3,685.8,5.9,492,21354,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2205,2206
$GC,21671,0.38,163.3,667.9,5.6,498,21675,0.00,2.42,0.00,0.000,4,0.000,0.080,3449,782,2206
$GC,21716,0.38,163.3,665.5,5.8,498,21720,0.00,2.33,0.00,0.000,6,0.000,0.063,3448,2208,2206
$GC,22031,0.38,163.3,649.2,5.1,504,22033,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2206
$GC,22334,0.38,163.3,633.3,5.3,509,22335,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2208,2206
$GC,22637,0.38,163.3,616.0,5.7,514,22638,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2208,2206
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$STATE,33600,end climb,SURFACE_DEPTH_REACHED
$STATE,33600,begin surface coast
$FINISH,2.6,1.012731
$STATE,33681,end surface coast,CONTROL_FINISHED_OK
$STATE,33681,begin surface
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$XPDR_PINGS,992
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$10V_AH,10.4,63.825
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$DEVICE_SECS,28.850,193.250,444.350,0.000,0.000,57.181,60.111,259.893,248.000,0.000,0.000,33.257,1809.563,28705.559,574.793,2354.741,925.116,33.373,1753.844,0.000,2312.868,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50677,868
$CAP_FILE_SIZE,186352,0
$CFSIZE,260165632,221736960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230209,233824,4957.339,-14511.885,42,1.7,42,18.4